CN106793428B - A kind of deep-sea means of illumination and system based on non homogen field - Google Patents
A kind of deep-sea means of illumination and system based on non homogen field Download PDFInfo
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- CN106793428B CN106793428B CN201710141929.XA CN201710141929A CN106793428B CN 106793428 B CN106793428 B CN 106793428B CN 201710141929 A CN201710141929 A CN 201710141929A CN 106793428 B CN106793428 B CN 106793428B
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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Abstract
The present invention discloses a kind of deep-sea means of illumination based on non homogen field, comprising: detection luminaire between target shooting face at a distance from, and judge luminaire it is current belonging to illumination distances state；When illumination distances state is that preset short distance illuminates, increase the accounting that decay intensity in light source is greater than the light of preset threshold, and reduces the accounting that decay intensity in light source is less than the light of preset threshold；When illumination distances state is preset long distance illumination, reduce the accounting that decay intensity in light source is greater than the light of preset threshold, and increases the accounting that decay intensity in light source is less than the light of preset threshold.In this way, the spectral component of target shooting face reflection light can be made uniform, color distortion is reduced, improve colour rendering index when luminaire closely illuminates；In long distance illumination, light overall attenuation can be reduced, increases illumination distances, reduces lighting system energy consumption.The deep-sea lighting system based on non homogen field that invention additionally discloses a kind of, its advantages are as described above.
Description
Technical field
The present invention relates to marine resources drilling technique field, in particular to a kind of deep-sea illumination side based on non homogen field
Method.The deep-sea lighting system based on non homogen field that the invention further relates to a kind of.
Background technique
The ocean for occupying ground sphere area 71% is a huge resources bank, and China possesses about 300 as ocean big country
Ten thousand square kilometres of ocean area.Deep-sea optical image technology is raw as deep-sea mineral exploration and exploitation, deep-sea resources exploration and deep-sea
The core support technology of physical prospecting rope is China using ocean, develops the important foundation of ocean.
Deep-sea optical imaging system is a kind of active optical imaging system.Deep-sea lighting system is deep-sea optical imagery system
The important component of system.The 0.01% of the illumination deficiency water surface illumination of underwater 200 meters or less visible lights under normal circumstances, and
Environment in deep-sea is even more very dark.Therefore deep-sea illuminates the headlight as manned underwater vehicle " driving at night ", is to present
The premise of deep-sea optical imagery." ends of the earth number ", " cape number " lander, " experiment number in situ " lifting that the Chinese Academy of Sciences is researched and developed at deep-sea
It is equipped with a set of or a few sets deep-sea lighting system on device and " 4500 meters ", " flood dragon number " manned underwater vehicle, and its product
All by external import.To in technology, without being bound by people, China must have autonomous research and development ability.
In the prior art, pass through searchlight generally equipped with powerful searchlight and imager on submersible
Seabed surface, coral reef, rock etc., then shot by imager.But since the back scattering of light in the seawater makes
The picture that imager takes has veiling glare, which seriously affects imaging, also not can be removed by the image procossing in later period, imaging
The picture colour rendering index that device takes is lower；And since the attenuation characteristic of light in seawater can only in longer-distance situation
It is realized by way of greatly improving searchlight power and is shot more visiblely, and during deep-sea detecting, a dive may
Several hours are wanted, and due to harsh deep-marine-environment, the energy that submersible is carried by is extremely limited, and its detection carried is set
It is standby but very more therefore extremely disadvantageous for the status of energy consumption of submersible.
Therefore, the colour rendering index and illumination distances in target shooting face how are improved, while reducing lighting energy consumption, is this field
Technical staff's technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of deep-sea means of illumination based on non homogen field can be improved target shooting face
Colour rendering index and illumination distances, while reducing lighting energy consumption.It is a further object of the present invention to provide a kind of based on non homogen field
Deep-sea lighting system.
In order to solve the above technical problems, the present invention provides a kind of deep-sea means of illumination based on non homogen field, comprising:
Detect luminaire between target shooting face at a distance from, and the size of the distance and pre-determined distance value, if preceding
Person is greater than the latter, then the current affiliated illumination distances state of the luminaire is preset long distance illumination；After if the former is less than
Person, then the current affiliated illumination distances state of the luminaire is the illumination of preset short distance；
When the illumination distances state is that preset short distance illuminates, increases decay intensity in light source and be greater than preset threshold
Light accounting, and reduce light source in decay intensity be less than preset threshold light accounting；
When the illumination distances state is preset long distance illumination, reduces decay intensity in light source and be greater than preset threshold
Light accounting, and increase light source in decay intensity be less than preset threshold light accounting.
Preferably, detection luminaire between target shooting face at a distance from, specifically include:
Emit laser from the luminaire and shoot face to the target, and the illumination is calculated according to the reciprocal time of laser
Device between target shooting face at a distance from.
Preferably, detection luminaire between target shooting face at a distance from, specifically include:
By sonar detect the luminaire between target shooting face at a distance from.
Preferably, judge the current affiliated illumination distances state of the luminaire, specifically include:
Compare the size of the distance with pre-determined distance value, if the former is greater than the latter, the illumination distances state is pre-
If long distance illumination；If the former is less than the latter, the illumination distances state is the illumination of preset short distance.
Preferably, when increasing or decreasing the accounting for the light that decay intensity is more than or less than preset threshold in light source, according to
Decay intensity and the corresponding relationship of distance are adjusted in preset spectrum, so that the reflection light on the target shooting face
Frequency distribution is uniform.
Preferably, further includes:
The light of each position outgoing on the light-emitting area of the luminaire is detected to the light path between imager, and accordingly
The luminous intensity of each position on the light-emitting area of the luminaire is adjusted, so that the uniform-illumination in target shooting face.
The deep-sea lighting system based on non homogen field that the present invention also provides a kind of, comprising:
Apart from detection module, for detect luminaire between target shooting face at a distance from；
Distance judgment module, it is described if the former is greater than the latter for the size of the distance and pre-determined distance value
Illumination distances state belonging to luminaire is current is preset long distance illumination；If the former is less than the latter, the luminaire is worked as
Illumination distances state belonging to preceding is the illumination of preset short distance；
First execution module, for increasing and declining in light source when the illumination distances state is that preset short distance illuminates
Subtract accounting of the intensity greater than the light of preset threshold, and reduces the accounting that decay intensity in light source is less than the light of preset threshold；
Second execution module, for reducing and declining in light source when the illumination distances state is preset long distance illumination
Subtract accounting of the intensity greater than the light of preset threshold, and increases the accounting that decay intensity in light source is less than the light of preset threshold.
Preferably, further includes:
Light path detection module, the light of each position outgoing on the light-emitting area for detecting the luminaire is to being imaged
Light path between device；
Light intensity regulating module, for adjusting the luminous table of the luminaire according to the testing result of the light path detection module
The luminous intensity of each position on face, so that the uniform-illumination in target shooting face.
Deep-sea means of illumination provided by the present invention based on non homogen field includes mainly two steps, is respectively as follows: detection
Luminaire between target shooting face at a distance from, and judge luminaire it is current belonging to illumination distances state；When illumination distances state
When illuminating for preset short distance, increase the accounting that decay intensity in light source is greater than the light of preset threshold, and reduce in light source
Decay intensity is less than the accounting of the light of preset threshold；When illumination distances state is preset long distance illumination, reduce light source
Middle decay intensity is greater than the accounting of the light of preset threshold, and decay intensity is less than accounting for for the light of preset threshold in increase light source
Than.Deep-sea means of illumination provided by the present invention based on non homogen field, detection luminaire and target first is clapped in the first step
The distance between face is taken the photograph, the presently described lighting environment of luminaire is specified, predominantly illumination distances state belonging to luminaire.Work as illumination
Device shoots when being closer of face from target, then belongs to preset short distance illumination condition, at this time light source (the i.e. photograph of working condition
Funerary objects) in the light that is issued, the larger and lesser light of decay intensity can smoothly reach target shooting face, if being not added dry
In advance, the lesser light of decay intensity will retain large energy when emitting on target shooting face, and the biggish light of decay intensity
Reservation energy it is lower, color distortion is obvious after imaging, thus the present invention improve in this case decay intensity be greater than it is default
The accounting of the light of threshold value, while reducing accounting of the decay intensity less than the light of preset threshold, it so that target is shot face
The spectral component of the light of reflection is uniform, reduces color distortion, improves colour rendering index.And when luminaire from target shooting face away from
From farther out when, the biggish light of decay intensity, which can not be successfully, reaches target shooting face, and the lesser light of decay intensity is easier to
Reach, in such cases, the present invention reduces the accounting that decay intensity is greater than the light of preset threshold, while it is small to increase decay intensity
In the accounting of the light of preset threshold, the master of the reflection light in face will be so shot using the lesser light of decay intensity as target
Spectral component is wanted, in the case where reducing overall attenuation, increases illumination distances, reduces lighting system energy consumption, while also can be one
Determine the colour rendering index that target shooting face is improved in degree.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of system flow chart of specific embodiment provided by the present invention；
Fig. 2 is a kind of function structure chart of specific embodiment provided by the present invention；
Fig. 3 is that luminous intensity adjusts schematic diagram in a kind of specific embodiment provided by the present invention；
Fig. 4 is that light accounting adjusts schematic diagram in a kind of specific embodiment provided by the present invention.
Wherein, in Fig. 2:
Apart from detection module -1, distance judgment module -2, the first execution module -3, the second execution module -4, light path
Detection module -5, light intensity regulating module -6.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of system flow chart of specific embodiment provided by the present invention.
In a kind of specific embodiment provided by the present invention, the deep-sea means of illumination based on non homogen field mainly includes
Two steps, be respectively as follows: detection luminaire between target shooting face at a distance from, and judge luminaire it is current belonging to illumination distances
State；When illumination distances state is that preset short distance illuminates, increase the light that decay intensity in light source is greater than preset threshold
Accounting, and reduce light source in decay intensity be less than preset threshold light accounting；When illumination distances state is preset remote
When range blanking, reduce the accounting that decay intensity in light source is greater than the light of preset threshold, and it is small to increase decay intensity in light source
In the accounting of the light of preset threshold.
Wherein, in the first step, first detection luminaire between target shooting face at a distance from, it is presently described to specify luminaire
Lighting environment, predominantly illumination distances state belonging to luminaire.When luminaire from target shoot when being closer of face, such as
Within 3m etc., then belong to preset short distance illumination condition, the light issued in light source (i.e. the luminaire of working condition) at this time
In line, the larger and lesser light of decay intensity can smoothly reach target shooting face, if intervention is not added, decay intensity is lesser
Light will retain large energy when emitting on target shooting face, and the reservation energy of the biggish light of decay intensity is lower, at
As rear color distortion is obvious；And when luminaire with a distance from target shooting face farther out when, such as situations such as other than 3m, decay intensity
Biggish light, which can not be successfully, reaches target shooting face, and the lesser light of decay intensity is easier to reach.
In second step, mainly the luminous parameters of luminaire are adjusted according to the affiliated illumination distances state of luminaire
It is whole.Specifically, illumination distances state belongs to the illumination of preset short distance when smaller at a distance from luminaire is between target shooting face
When, the accounting that decay intensity is greater than the light (such as red, orange light etc.) of preset threshold is improved in such cases, is reduced simultaneously
Decay intensity is less than the accounting of the light (such as indigo plant, green light etc.) of preset threshold.Target shooting face reflection can so be made
The spectral component of light is uniform, reduces color distortion, improves colour rendering index.
When larger at a distance from luminaire is between target shooting face, when illumination distances state belongs to preset long distance illumination,
Reduce the accounting that decay intensity is greater than the light of preset threshold in such cases, while increasing decay intensity less than preset threshold
The accounting of light.The dominant spectral ingredient of the reflection light in face will be so shot using the lesser light of decay intensity as target,
In the case where reducing overall attenuation, increase illumination distances, reduces lighting system energy consumption, while can also improve to a certain extent
The colour rendering index in target shooting face.
Specifically, can be completed by laser ranging mode when at a distance from detection luminaire is between target shooting face.First
Can on luminaire settable laser generator, laser pickoff and timer etc., then by laser generator from luminaire
Surface launching beam of laser is shot toward target at position, after the interval time of Δ t, transmitting laser will be captured by laser pickoff,
Timer can detect the Shu Jiguang follow to the time turned back simultaneously, can finally count further according to the light velocity and the product of the time
Calculate luminaire between target shooting face at a distance from.
Certainly, detection luminaire between target shooting face at a distance from mode be not limited in above-mentioned laser ranging mode,
Boat ocean exploration in, sonar also can be used detect luminaire between target shooting face at a distance from.Specifically, can be on luminaire
Sonar is set, then surface launching ultrasonic wave etc. is shot to target by sonar, can equally be calculated and be shone according to the reciprocal time of ultrasonic wave
Funerary objects between target shooting face at a distance from.
And judge luminaire it is current belonging to illumination distances state when, can be by the distance value and pre-determined distance that will test
The mode that value carries out size comparison is completed.Specifically, pre-determined distance value is set according to the foundation such as empirical equation of this field first,
Such as the equidistant value of 3m or 2m, then judge the distance value of detection and the size of the pre-determined distance value, if the distance value of detection is larger,
Then illumination distances state be long distance illumination, on the contrary it is then for closely illumination.Certainly, the size of pre-determined distance value can be according to reality
Situation adjusts.
As shown in figure 4, Fig. 4 is that light accounting adjusts schematic diagram (figure in a kind of specific embodiment provided by the present invention
In solid line decay by force light, dotted line is underdamp light).
In addition, when adjusting the luminous parameters of luminaire, increase or decrease in light source decay intensity be more than or less than it is default
The accounting of the light of threshold value should not be too large or too small, specifically, when adjusting accounting, can refer to declining for light in preset spectrum
Subtract the corresponding relationship of intensity and distance, which is generally the curve graph about outgoing distance and decay intensity, main root
It is formulated according to the characteristic of seawater, such as when light is propagated in the seawater, by the refractive index of seawater, seawater salinity, impurity concentration etc.
The influence of many factors.When being adjusted according to the corresponding relationship, so that the frequency distribution of the reflection light on target shooting face
Uniformly it is adjusted for target.For example, when luminaire closely illuminates, it is possible to increase the big light accounting of decay intensity to 60%
~80% etc., while the small light accounting of decay intensity can be reduced to 20%~40%.And when luminaire long distance illumination, it can
Substantially reduce the big light of decay intensity, and the accounting of the small light of decay intensity is improved to 90% or more.
Furthermore, it is contemplated that luminaire is in actual illumination, under light-emitting area very maximum probability between target shooting face simultaneously
Non- perpendicular antagonistic relations, but the light-emitting area of luminaire has centainly between target shooting face in most cases
Angle, i.e. emergent ray and non-normal incidence.Meanwhile when carrying out seafari task, a variety of different targets may be carried out
Shooting, such as rock and coral reef etc., the surface irregularity of this type objects, the light-emitting area of luminaire and the mesh of these objects
The distance between the shooting face of marking is simultaneously non-constant equal, and the illuminance that so will likely result in target shooting face is uneven, causes dizzy
The problems such as light, excessive intermediate bright with fringe region dark contrast.In view of this, being additionally arranged shining for adjustment luminaire in the present embodiment
The step of intensity.
Specifically, the light of each position outgoing on the light-emitting area of luminaire detectable first is to the light between imager
Journey, if the light-emitting area of luminaire and target shooting face at it is certain lower when, shot by close-target on the light-emitting area of luminaire
The emergent ray of the position in face, the light path to imager is inevitable shorter, on the contrary then longer；Have on target shooting face simultaneously recessed
The light path for falling into the light of position is longer, and the light path of the light with raised position is shorter.Then according to the principle of uniform illumination
The luminous intensity for adjusting each position on the light-emitting area of luminaire is reinforced the luminous intensity of the longer position of light path, simultaneously
The luminous intensity of the shorter position of light path is reduced, finally makes the luminous intensity of the transmitting light in target shooting face uniform, target
The uniform-illumination in shooting face is conducive to imager and clearly shoots to target shooting face.As shown in figure 3, Fig. 3 is the present invention
Luminous intensity adjusts schematic diagram in a kind of provided specific embodiment, and the light path of a light in figure is shorter, is dim light, b light
The light path of line is longer, is Qiang Guang.
As shown in Fig. 2, Fig. 2 is a kind of function structure chart of specific embodiment provided by the present invention.
The present embodiment also provides a kind of deep-sea lighting system based on non homogen field, mainly include apart from detection module 1, away from
From judgment module 2, the first execution module 3 and the second execution module 4.
Wherein, apart from detection module 1 mainly for detection of luminaire between target shooting face at a distance from, distance judgment module
2 are mainly used for judging the current affiliated illumination distances state of the luminaire.First execution module 3 is believed with distance judgment module 2
Number connection, be mainly used for when the illumination distances state be preset short distance illumination when, increase light source in decay intensity be greater than
The accounting of the light of preset threshold, and reduce the accounting that decay intensity in light source is less than the light of preset threshold；Second executes mould
Block 4 is connect with 2 signal of distance judgment module, is mainly used for subtracting when the illumination distances state is preset long distance illumination
Decay intensity is greater than the accounting of the light of preset threshold in small light source, and increases the light that decay intensity in light source is less than preset threshold
The accounting of line.
The working principle of deep-sea lighting system based on non homogen field provided by the present embodiment is with aforementioned based on non-homogeneous
The deep-sea means of illumination of field is identical, and details are not described herein again.
In addition, being also additionally arranged light path detection module 5 and light intensity regulating module 6 in the present embodiment.Wherein, light path detection module
5 mainly for detection of each position outgoing on the light-emitting area of the luminaire light to the light path between imager, and light
Strong adjustment module 6 is mainly used for being adjusted on the light-emitting area of the luminaire according to the testing result of the light path detection module 5
The luminous intensity of each position, so that the uniform-illumination in target shooting face.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (7)
1. a kind of deep-sea means of illumination based on non homogen field characterized by comprising
Detect luminaire between target shooting face at a distance from, and the size of the distance and pre-determined distance value, if the former is big
In the latter, then the current affiliated illumination distances state of the luminaire is preset long distance illumination；If the former is less than the latter,
Illumination distances state belonging to the luminaire is current is the illumination of preset short distance；
When the illumination distances state is that preset short distance illuminates, increase the light that decay intensity in light source is greater than preset threshold
The accounting of line, and reduce the accounting that decay intensity in light source is less than the light of preset threshold；
When the illumination distances state is preset long distance illumination, reduce the light that decay intensity in light source is greater than preset threshold
The accounting of line, and increase the accounting that decay intensity in light source is less than the light of preset threshold.
2. the deep-sea means of illumination according to claim 1 based on non homogen field, which is characterized in that detection luminaire and mesh
Distance between the shooting face of marking, specifically includes:
Emit laser from the luminaire and shoot face to the target, and according to the reciprocal time of laser calculate the luminaire with
Distance between target shooting face.
3. the deep-sea means of illumination according to claim 1 based on non homogen field, which is characterized in that detection luminaire and mesh
Distance between the shooting face of marking, specifically includes:
By sonar detect the luminaire between target shooting face at a distance from.
4. the deep-sea means of illumination according to claim 1 based on non homogen field, which is characterized in that increase or decrease light source
When middle decay intensity is more than or less than the accounting of the light of preset threshold, according to pair of decay intensity and distance in preset spectrum
It should be related to and be adjusted, so that the frequency distribution of the reflection light on the target shooting face is uniform.
5. the deep-sea means of illumination according to claim 1 based on non homogen field, which is characterized in that further include:
The light for detecting each position outgoing on the light-emitting area of the luminaire is adjusted to the light path between imager, and accordingly
The luminous intensity of each position on the light-emitting area of the luminaire, so that the uniform-illumination in target shooting face.
6. a kind of deep-sea lighting system based on non homogen field characterized by comprising
Apart from detection module, for detect luminaire between target shooting face at a distance from；
Distance judgment module, for the size of the distance and pre-determined distance value, if the former is greater than the latter, the illumination
Illumination distances state belonging to device is current is preset long distance illumination；If the former is less than the latter, the current institute of luminaire
The illumination distances state of category is the illumination of preset short distance；
First execution module, for it is strong to increase decaying in light source when the illumination distances state is that preset short distance illuminates
Degree is greater than the accounting of the light of preset threshold, and reduces the accounting that decay intensity in light source is less than the light of preset threshold；
Second execution module, for it is strong to reduce decaying in light source when the illumination distances state is preset long distance illumination
Degree is greater than the accounting of the light of preset threshold, and increases the accounting that decay intensity in light source is less than the light of preset threshold.
7. the deep-sea lighting system according to claim 6 based on non homogen field, which is characterized in that further include:
Light path detection module, the light of each position outgoing on the light-emitting area for detecting the luminaire is between imager
Light path；
Light intensity regulating module, for adjusting the light-emitting area of the luminaire according to the testing result of the light path detection module
The luminous intensity of each position, so that the uniform-illumination in target shooting face.
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| CN108828768B (en) * | 2018-05-09 | 2021-12-28 | 中国科学院深海科学与工程研究所 | Lighting source design method applied to deep sea detection and related equipment |
| CN108730848B (en) * | 2018-06-21 | 2020-01-14 | 上海大学 | Deep sea LED light source and deep sea LED lamp |
| CN109526101A (en) * | 2018-11-22 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | A kind of lighting device illuminated with Yu Haiyang |
| CN111867198B (en) * | 2020-07-21 | 2023-01-10 | 深圳第三代半导体研究院 | Control method of underwater lighting equipment, underwater lighting equipment and device |
| CN113365389B (en) * | 2021-06-15 | 2022-07-19 | 中国科学院深海科学与工程研究所 | Design method and device of deep sea lighting system |
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| CN103179716A (en) * | 2011-12-20 | 2013-06-26 | 明理科技有限公司 | Light-emitting diode light source simulation system |
| JP2014013700A (en) * | 2012-07-04 | 2014-01-23 | Japan Agengy For Marine-Earth Science & Technology | Light source system and imaging system |
| US10183732B2 (en) * | 2015-04-09 | 2019-01-22 | University of New Hamphire | Pose detection and control of unmanned underwater vehicles (UUVs) utilizing an optical detector array |
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| CN1821811A (en) * | 2006-01-27 | 2006-08-23 | 中国海洋大学 | Method and device for non-uniform lighting detecting target image |
| CN205754956U (en) * | 2016-05-23 | 2016-11-30 | 浙江大学 | One spectrum adjustable illumination device under water |
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